Vehicle with coordinated guiding and supporting mechanism

ABSTRACT

A load handling vehicle is equipped with a steering and traction wheel and an overhead guide assembly coacting with fixed overhead linear tracks. The steering and traction wheel and the guide assembly rotate together so as to guide the vehicle and support it in its movement in different paths. The overhead tracks are connected by a circular track to permit transfer of the guide assembly from one linear track to another.

[ 1 June 27, 1972 United States Patent Richins ...Ul04/244,lKideka.................n............. 214/26 42 Dickson Ridgway........mEkstrom 2777 6936 9899 III m mumm 3 m 5 T G mm D T RR mm w S mm W E omum EU vGM M.

[72] Inventor: Kenneth A. Richins, Salt Lake City, Utah FOREIGN PATENTSOR APPLICATIONS [73] Eaton Corporation, Cleveland, Ohlo April 6, I970App]. No.: 25,908

751,2I2 H1967 Canada.4...........................214/l6.42

Assignee:

Filed:

Primary Examiner-Arthur L. La Point Assistant ExaminerD. W. KeenAttorney-Teagno & Toddy [$2] U.S. CI. ..104/96, l04/l72 BT, lO4/88,

ABSTRACT m F g .m m D 3 m h C 0 l a m o m 9 H H0 0 I 4" o m e .m a n mAR HK l l x l l n PATENTEDJUHN 1972 3, 672.307

Kin/r127 A. RICH/1V5 ATTORNEY.

PATENTEnJum m2 SHEET 2 BF 3 INVENTOR.

HEM/YET A. RlCI/Aj BY A N J ATTORNEY.

PATENTEDJUH 27 I972 SHEET 3 BF 3 IN V E N TOR.

N i 2 ATTORNEY.

VEHICLE WITH COORDINATE!) GUIDING AND SUPPORTING MECHANISM FIELD OFINVENTION BACKGROUND OF THE INVENTION Vehicles adapted to move inwarehouse aisles, are naturally very old in the art. Because of the highcost of land, warehouses are erected with very high ceilings, andvehicles of the particular class to which this invention relates, havebeen designed therefore to elevate loads to rather considerable heights,in order to operate effectively in warehouses having extremely highceilings. Naturally, the stability of a vehicle is greatly affected whena load is elevated to a relatively high point, and therefore,stabilizing devices for vehicles of the particular class have beendeveloped. It does not appear, however, that the art contains astabilizing mechanism for a vehicle of the particular class, that moveswith the vehicle for effective coaction with means in each of severalaisles traversed by the vehicle. This seems particularly true ofvehicles adapted to assume different positions in each of twointersecting aisles through which the vehicle moves. Still further,there seems to be no really effective stabilizing means adapted forguiding and stabilizing an air supported vehicle.

OUTLINE OF INVENTION A feature of this invention resides in theutilization of a guide assembly mounted at the upper end of a loadhandling vehicle for coaction with linear guide means. More particularlythe invention resides in a guide assembly adapted for rotation in aparticular axis relatively to the vehicle so as to be readily alignedwith two or more linear guide means of a type that may be mounted on theceiling of a warehouse in which the vehicle is to he moved. As aparticular feature of the invention, the linear guide means with whichthe guide assembly coacts, may be in the form of two or more tracks orthe like, lying in angular relation to one another, so that rotation ofthe guide assembly aligns the guides thereof with the linear tracks. Asa detailed feature of the invention, the guide assembly may comprise apair of linearly spaced rollers, which when moving along a linear track,contribute considerable stability to the vehicle.

As a further feature of the invention, the guide assembly is rotated inaccordance with the rotation of a steering assembly, which may include acombined steering and traction wheel. An even more detailed feature ofthe invention resides in the utilization of a means for rotating thesteering wheel directly with and coincidentally with the guide assembly,so that when the steering wheel is positioned for the movement of thevehicle down a particular aisle, the guide assembly will be aligned withthe track of that aisle.

A further feature of the invention resides in a form of transfer meansfor effectively transferring the guide assembly and its rollers fromcooperation with one linear track, into coaction with another lineartrack that may be at right angles to the first linear track. As adetailed feature of this part of the invention, the transfer mechanismcomprises a circular track in which the very same rollers or the likethat bring about the guiding and stabilizing of the vehicle along onelinear line, are rotated into position for coaction with other tracks tostabilize and to guide the vehicle along another line.

A still further feature of the invention resides in novel outriggersthat are utilized as part of the vehicle for stabilizing it during therealignment of the guide assembly, prior to the movement of the vehicleinto a different aisle. This feature of the invention is particularlyimportant because of the use of air support means for the vehicle, andthe requirement that the vehicle be maintained particularly stableduring the rota tion of the guide assembly and the steering and tractionwheel.

As a further particular feature of the invention, the transfer mechanismand the guidance mechanism are formed to allow for the air lift of thevehicle in all positions thereof.

DESCRIPTION OF DRAWINGS FIG. 1 is a side vertical view illustrating thevehicle of the invention positioned with its guide assembly directlyunder and in alignment with transfer mechanism secured to the ceiling ofthe warehouse.

FIG. 2 is an end elevation of the vehicle taken along line 2- 2 of FIG.I.

FIG. 3 is a section taken along line 3-3 of FIG. I illustrating thetransfer mechanism. It will be noted in FIG. 3, that FIG. I is takenalong line 1-1 of FIG. 3.

DESCRIPTION OF INVENTION Referring now more particularly to FIGS. 1 and2 of the drawings, the vehicle in which the invention is embodied, isdesignated generally be reference numeral 10. While a brief descriptionof the vehicle per se will be presented here. a somewhat more completedescription of the vehicle is found in application Ser. No. 886,884,filed Dec. 22, I969 and application 69-94 assigned to Eaton Yale & TowneInc., the assignee of this application.

In any event, the vehicle is of the type having a series of four aircushion pads II, that receive air from blowers I2 actuated by electricmotors 13. The movement of air through the air pads II, as isconventional in the art, will lift the vehicle 10 away from the floor Fof the warehouse a relatively short distance, and will thus make itpossible for the vehicle to be moved with very little effort down thevarious aisles of the warehouse. As is more fully described inapplication Ser. No. 886,884 referred to above, the vehicle is adaptedto be moved in the warehouse through contact of a steering and drivingwheel IS with the floor F. In said application, the wheel I5 is part ofa steering and driving assembly 16 that is mounted for gravitationalmovement against the floor F and also for rotation in a steering axis.The wheel I5 is suitably power driven so that through its contact withthe floor it will move the vehicle, naturally in the direction in whichthe wheel I5 has been positioned relatively to a steering axis.

Thus, the entire steering and traction unit I6, including the wheel 15,is adapted for rotation in a steering axis, which is the axis of avertical shaft 17. In one of the said earlier applications referred to,steering rotation of unit 16 is actually contributed through the torquedeveloped by the rotation of the wheel 15 and its contact with the floorF. The invention set forth in the present application will be operativeregardless of the manner in which the steering and traction unit 16 isrotated. However, as part of this invention, it is preferred that amotor I8 be utilized for rotating the steering and traction unit bodilyin the axis of the shaft 17, and that at the same time, the shaft 17 berotated for a purpose to appear presently.

The vehicle I0 includes a mast 20 that is integral with the main frameof the vehicle, and extends upwardly toward the ceiling of thewarehouse. Suitably mounted on the mast 20 is a load elevating carriage21 having transversely moving load carrying platforms 22, an operator'splatform 23, and suitable controls 24, all as has been set forth in moredetail in the above earlier applications. Actually, the construction ofthe mast and the carriage 21 and the load moving parts need not beconsidered in detail here, as they are not features of the invention. Itis only important to appreciate the fact that the carriage 21 will beelevated to a relatively high point, and therefore makes necessarycertain of the features of the invention.

For lifting the carriage, a conventional sprocket chain assembly 25 isutilized. Thus, chain 25 is secured at 26 to an upper portion of thecarriage 21, and at 27 to the lowermost portion of the carriage 21.Chain 25 is driven by a sprocket 28 that is in turn actuated by a secondsprocket and chain 29 driven through intermediate sprockets and chainsby an electric motor 30. Through operation of chain 25 by the motor 30,it is obvious that the carriage will be elevated to any particulardesired position, and that a load on the platfomi 22 can then bedeposited as desired in bins or the like located at each side of theaisle in which the vehicle is moved.

The main frame of the vehicle is provided with a series of guide rollers3I located about its periphery, and it is the function of these rollersto coact with suitable guides provided in the aisles for maintaining thevehicle in a fixed path in each aisle in which it moves. Obviously, itis the function of the rollers 3] to prevent any deviation of thevehicle from a particular path in which the steering and driving wheelI5 moves the vehicle as the vehicle is supported by the air cushionsprovided by the pads I 1.

In order to stabilize and guide the upper end of the vehicle, for thereasons earlier set forth in the outline of the invention, the upper endof the shaft 17 has fixed thereto a beam 35 that is part of which heremay be called a guide assembly. Through a bearing 36 provided at theupper end of the mast 20, the shaft 17 and the beam 35 will bemaintained in a stable position for rotation in the axis of the shaft17. As is probably best seen in FIG. 3, each end of the beam 35 carriesa guide roller 37 adapted for rotation in a vertical axis. Also at eachend of the beam 35 and beyond the rollers 37, a roller 38 is mounted,each roller 38 being adapted for rotation about a horizontal axis. Inthe position of the beam 35 in FIGS. I and 3, it is located oppositewhat is termed a transfer mechanism, it being the function of thetransfer mechanism to aid in the controlled movement of the beam fromits position of FIGS. I and 3 to a position at right angles thereto,shown in dash and dotted lines in FIG. 3.

The transfer mechanism provides an inner arcuate track 40 that is formedin four segments separated by spaces 41, 42, 43 and 44. Cooperating withthe inner track segments 40 are outer track segments 45, each end of asegment 45 terminating in a linear track portion. These linear trackportions are noted by reference numerals 46, 47, 48, 49, 50, 51, 52 and53. It will be well appreciated, that were the vehicle I positioned somedistance to the left of its position in FIG. 3, all four rollers 37 and38 would be between the two linear track portions SI and S2, and thesaid track portions 51 and 52 would through the said rollers 37 and 38and beam 35, effectively guide the upper end of the mast 20 foreffective movement in an aisle A.

The steering and traction wheel 15, as shown in one position in dottedlines in FIG. 3, will be positioned in axial alignment with the aisle Aso as to contribute motion to the vehicle in the aisle A. Thus, thevehicle would be supported by the air issu ing through devices 11, andwould therefore be spaced from the floor F, and would receive tractionthrough operation of the wheel 15. At the same time, guidance would becontributed to the lower end of the vehicle through coaction of theseveral rollers 31 with suitable guides secured in the aisle A. Also, atthe same time, the rollers 37 and 38 would effectively stabilize theupper end of the vehicle through beam 35 and the mast 20, and wouldguide the vehicle for movement in the aisle A in cooperation with thetraction wheel and rollers 31.

Let us assume now that the vehicle has moved to the position shown inFIGS. 1 and 3, so that the rollers 38 are in the trackway formed betweentrack segments 40 and 45. Rollers 37 are in position to contact thevertical sides of track segment 40 as seen in FIG. I. Let us assumefurther it is desired that the vehicle move in aisle B in the directionof either of arrows 60 or 61 shown in FIG. 3. The operator will simplyclose the cir' cuit of the motor 18 to effect rotation of the beam 35 ina par ticular direction 90 in the axis of shaft 17 from its full lineposition of FIG. 3, to the phantom position shown in the same figure.

At the same time, as already set forth, the steering and tractionmechanism 16 will be rotated to bring the wheel from its dotted lineposition shown in FIG. 3 to its dash and dotted line position shown inthe said figure. During this rotation of the parts, it is obvious thatthe shaft I7 and the entire guide assembly comprising the beam 35 andits rollers 37 and 38 have been well reinforced in their travel throughcooperation of the two rollers 37 with vertical surfaces of the tracksegments 40. Obviously, once the beam 35 is in the phantom positionshown in FIG. 3, and the wheel 15 also in the phantom position of FIG.3, it is possible for the vehicle to move in aisle B. It will beapparent also at this point, that the spaces 4!, 42, 43 and 44 arerequired in order to permit the movement of the beam 35 and its rollersto the transfer point from directions as determined by the aisles, andaway from the transfer point thereafter.

It will be well to note in FIG. 1 that there is a space between theroller 38 and a plate 65 forming the upper end surface of the trackwaybetween the inner and outer track segments 44, 45. This space permitsthe upward movement of the rollers 38 with the beam 35 when the vehicle10 is raised from the floor F by the several air pads 11. It will benoted also in FIG. I, that the rollers 37 lie somewhat below the rollers38 so as also to move freely vertically with the beam 35 within limitsdetermined by rollers 38.

In order to facilitate propulsion of the vehicle 10 in aisle B afterrotation of the drive and steer unit 16, shaft I7 and the beam 35 of theguide assembly, the vehicle is equipped with outrigger arms 70, bestillustrated in FIG. 2. Each arm is pivoted at 71 to a guide link 72 thatis in turn pivoted at 73 to the main frame of the vehicle. The end ofeach outrigger ter minating at the vehicle is pivoted at 74 to a slide75 that may be moved vertically through a hydraulic rarn or motor, orthrough a chain and motor. In any event, through the vertical movementof each slide 75 in a channel 76 fixed to the main frame of the vehicle,the outrigger anns 70 may be moved readily between their outward vehiclestabilizing position shown in FIGS. I and 2, to an inward positionwithin channels 76 as is apparent.

Those skilled in the art, it is thought, will appreciate that theconstruction of this application contributes an extremely simple guidingand stabilizing mechanism for a high lift vehicle, while contributingalso extremely simple means whereby the vehicle may well be transferredfrom one aisle to another without loss of stability. The relativesimplicity of the means utilized in effecting transfer. and at the sametime, steering and traction of the vehicle, will also be wellappreciated.

I now claim;

I. In the combination of the class described, a vehicle having supportmeans and traction means at its bottom, a support member extendingvertically upwardly from said bottom toward the ceiling of a room inwhich the bottom of the vehicle is supported by said support means, aguide assembly rotatably mounted on said support member, guides on saidguide assembly, linear guide means for said guides secured relatively tothe said ceiling, said linear guide means comprising two or more lineartracks or the like lying in angular relation to one another so thatrotation of said guide assembly aligns said guides with one or the otherof said linear tracks or the like, and transfer means with which saidguides coact while rotating with said guide assembly into coaction withone linear guide means from coaction with the other linear guide means,said transfer means comprising circular tracks or the like connectingsaid linear guide means, and said guides comprising rollers in contactwith said circular tracks or the like.

2. In the combination of claim I, the feature that said traction meansincludes a traction wheel rotatable in a steering axis to drive saidvehicle in alignment with said guide means.

3. In the combination of claim I, the feature that said support meanscomprise air pads.

4. In the combination of claim I, the feature that said support memberis a mist, and that a load handling carriage is mounted for verticalmovement on said mast.

5. In the combination of claim 1, Outriggers on said vehicle forstabilizing said vehicle during rotation of said guides relatively tosaid transfer means, said Outriggers being positioned for swingingtransversely of the vehicle parallel to one of said linear guide means.

6. In the combination of claim 1, the feature that a part of saidtraction means rotates in accordance with rotation of said guideassembly whereby to align both said traction means and guides with saidlinear guide means.

7. In the combination of claim 6, the feature that said part of saidtraction means and said guide assembly are rotated together into properalignment with said linear guide means.

8. In the combination of claim 6, the feature that said part of saidtraction means is a steering wheel, and means for rotating said steeringwheel in accordance with said guide assembly.

9. in the combination of claim 8, the feature that said support memberis a mast on which a load handling carriage is mounted for verticalmovement and said means for rotating said steering wheel together withsaid guide assembly comprise a shaft rotatably mounted on said mast.

10. in the combination of claim 1, the feature that said traction meansis a steering and traction wheel mounted for steering rotation on saidvehicle, and means interconnecting said steering and traction wheel andsaid guide assembly for rotating both said wheel and guide assemblysimultaneously in predetermined relation.

Q i O i

1. In the combination of the class described, a vehicle having supportmeans and traction means at its bottom, a support member extendingvertically upwardly from said bottom toward the ceiling of a room inwhich the bottom of the vehicle is supported by said support means, aguide assembly rotatably mounted on said support member, guides on saidguide assembly, linear guide means for said guides secured relatively tothe said ceiling, said linear guide means comprising two or more lineartracks or the like lying in angular relation to one another so thatrotation of said guide assembly aligns said guides with one or the otherof said linear tracks or the like, and transfer means with which saidguides coact while rotating with said guide assembly into coaction withone linear guide means from coaction with the other linear guide means,said transfer means comprising circular tracks or the like connectingsaid linear guide means, and said guides comprising rollers in contactwith said circular tracks or the like.
 2. In the combination of claim 1,the feature that said traction means includes a traction wheel rotatablein a steering axis to drive said vehicle in alignment with said guidemeans.
 3. In the combination of claim 1, the feature that said supportmeans comprise air pads.
 4. In the combination of claim 1, the featurethat said support member is a mast, and that a load handling carriage ismounted for vertical movement on said mast.
 5. In the combination ofclaim 1, outriggers on said vehicle for stabilizing said vehicle duringrotation of said guides relatively to said transfer means, saidoutriggers being positioned for swinging transversely of the vehicleparallel to one of said linear guide means.
 6. In the combination ofclaim 1, the feature that a part of said traction means rotates inaccordance with rotation of said guide assembly whereby to align bothsaid traction means and guides with said linear guide means.
 7. In thecombination of claim 6, the feature that said part of said tractionmeans and said guide assembly are rotated together into proper alignmentwith said linear guide means.
 8. In the combination of claim 6, thefeature that said part of said traction means is a steering wheel, andmeans for rotating said steering wheel in accordance with said guideassembly.
 9. In the combination of claim 8, the feature that saidsupport member is a mast on which a load handling carriage is mountedfor vertical movement, and said means for rotating said steering wheeltogether with said guide assembly comprise a shaft rotatably mounted onsaid mast.
 10. In the combination of claim 1, the feature that saidtraction means is a steering and traction wheel mounted for steeringrotation on said vehicle, and means interconnecting said steering andtraction wheel and said guide assembly for rotating both said wheel andguide assembly simultaneously in predetermined relation.